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<div class="title">moment_of_inertia_estimation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : sergey.s.ushakov@mail.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_MOMENT_OF_INERTIA_ESIMATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_MOMENT_OF_INERTIA_ESIMATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html">   55</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html">MomentOfInertiaEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a> &lt;PointT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::fake_indices_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::use_indices_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PCLBase &lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PCLBase &lt;PointT&gt;::PointIndicesConstPtr PointIndicesConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      setInputCloud (<span class="keyword">const</span> PointCloudConstPtr&amp; cloud);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      setIndices (<span class="keyword">const</span> IndicesPtr&amp; indices);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      setIndices (<span class="keyword">const</span> IndicesConstPtr&amp; indices);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      setIndices (<span class="keyword">const</span> PointIndicesConstPtr&amp; indices);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      setIndices (<span class="keywordtype">size_t</span> row_start, <span class="keywordtype">size_t</span> col_start, <span class="keywordtype">size_t</span> nb_rows, <span class="keywordtype">size_t</span> nb_cols);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html">MomentOfInertiaEstimation</a> ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      ~<a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html">MomentOfInertiaEstimation</a> ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      setAngleStep (<span class="keyword">const</span> <span class="keywordtype">float</span> step);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      getAngleStep () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      setNormalizePointMassFlag (<span class="keywordtype">bool</span> need_to_normalize);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      getNormalizePointMassFlag () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      setPointMass (<span class="keyword">const</span> <span class="keywordtype">float</span> point_mass);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      getPointMass () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      compute ();</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      getAABB (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; min_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; max_point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      getOBB (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; min_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; max_point, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; position, Eigen::Matrix3f&amp; rotational_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      getEigenValues (<span class="keywordtype">float</span>&amp; major, <span class="keywordtype">float</span>&amp; middle, <span class="keywordtype">float</span>&amp; minor) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      getEigenVectors (Eigen::Vector3f&amp; major, Eigen::Vector3f&amp; middle, Eigen::Vector3f&amp; minor) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      getMomentOfInertia (std::vector &lt;float&gt;&amp; moment_of_inertia) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      getEccentricity (std::vector &lt;float&gt;&amp; eccentricity) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      getMassCenter (Eigen::Vector3f&amp; mass_center) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      rotateVector (<span class="keyword">const</span> Eigen::Vector3f&amp; vector, <span class="keyword">const</span> Eigen::Vector3f&amp; axis, <span class="keyword">const</span> <span class="keywordtype">float</span> angle, Eigen::Vector3f&amp; rotated_vector) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      computeMeanValue ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      computeOBB ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (PointCloudConstPtr cloud, Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      computeEigenVectors (<span class="keyword">const</span> Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix, Eigen::Vector3f&amp; major_axis,</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                           Eigen::Vector3f&amp; middle_axis, Eigen::Vector3f&amp; minor_axis, <span class="keywordtype">float</span>&amp; major_value, <span class="keywordtype">float</span>&amp; middle_value,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                           <span class="keywordtype">float</span>&amp; minor_value);</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      calculateMomentOfInertia (<span class="keyword">const</span> Eigen::Vector3f&amp; current_axis, <span class="keyword">const</span> Eigen::Vector3f&amp; mean_value) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      getProjectedCloud (<span class="keyword">const</span> Eigen::Vector3f&amp; normal_vector, <span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keyword">typename</span> pcl::PointCloud &lt;PointT&gt;::Ptr projected_cloud) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      computeEccentricity (<span class="keyword">const</span> Eigen::Matrix &lt;float, 3, 3&gt;&amp; covariance_matrix, <span class="keyword">const</span> Eigen::Vector3f&amp; normal_vector);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a0b947a169d16283c234908eade8dffa0">  295</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a0b947a169d16283c234908eade8dffa0">is_valid_</a>;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a4704720b64b7b5aa90b2154ce0df15ae">  298</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a4704720b64b7b5aa90b2154ce0df15ae">step_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aa0dfe095b9239cb904f3b9716f632765">  301</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aa0dfe095b9239cb904f3b9716f632765">point_mass_</a>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aac5c807734eaec35e71681a2ab179c1a">  304</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aac5c807734eaec35e71681a2ab179c1a">normalize_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a83b09737c57fa17ee476be82fc6d2ac9">  307</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a83b09737c57fa17ee476be82fc6d2ac9">mean_value_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ae6d6bcb2838c111297e0a7439354d8a7">  310</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ae6d6bcb2838c111297e0a7439354d8a7">major_axis_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a2c7189a33550fd032889beb8468178f4">  313</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a2c7189a33550fd032889beb8468178f4">middle_axis_</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#acd2333daeff6b5bce8d5c72a513ffda9">  316</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#acd2333daeff6b5bce8d5c72a513ffda9">minor_axis_</a>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a0a165ae40c0bc11f0cd3339291eb5380">  319</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a0a165ae40c0bc11f0cd3339291eb5380">major_value_</a>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a07b4fef1550eadccbf69a8f7e3b16c07">  322</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a07b4fef1550eadccbf69a8f7e3b16c07">middle_value_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a6098701f8e074c79181e305f7c63ae0d">  325</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a6098701f8e074c79181e305f7c63ae0d">minor_value_</a>;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#ab66f13f5d744785424443d2ac5df4720">  328</a></span>&#160;      std::vector &lt;float&gt; <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#ab66f13f5d744785424443d2ac5df4720">moment_of_inertia_</a>;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aff040015a1c06b72dfe1c4c7239d448e">  331</a></span>&#160;      std::vector &lt;float&gt; <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aff040015a1c06b72dfe1c4c7239d448e">eccentricity_</a>;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a879fb5187a0f7f8ad3a9fc6ecc2fe8fc">  334</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a879fb5187a0f7f8ad3a9fc6ecc2fe8fc">aabb_min_point_</a>;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a3e3d1ba2123e1c58137f380c06d4492c">  337</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a3e3d1ba2123e1c58137f380c06d4492c">aabb_max_point_</a>;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a3426207a8ff454274a9d2119f884c53d">  340</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a3426207a8ff454274a9d2119f884c53d">obb_min_point_</a>;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a4a4c3e73866b8153a4e7c901746e9999">  343</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a4a4c3e73866b8153a4e7c901746e9999">obb_max_point_</a>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#a231861f9ca6b21588b39cbbf7c0c0426">  346</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#a231861f9ca6b21588b39cbbf7c0c0426">obb_position_</a>;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_moment_of_inertia_estimation.html#aa64a8f7a76be5b5714919dfcc4e83ca0">  349</a></span>&#160;      Eigen::Matrix3f <a class="code" href="classpcl_1_1_moment_of_inertia_estimation.html#aa64a8f7a76be5b5714919dfcc4e83ca0">obb_rotational_matrix_</a>;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  };</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;}</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class pcl::MomentOfInertiaEstimation&lt;T&gt;;</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/moment_of_inertia_estimation.hpp&gt;</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html">pcl::MomentOfInertiaEstimation</a></div><div class="ttdoc">Implements the method for extracting features based on moment of inertia. It also calculates AABB,...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a07b4fef1550eadccbf69a8f7e3b16c07"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a07b4fef1550eadccbf69a8f7e3b16c07">pcl::MomentOfInertiaEstimation::middle_value_</a></div><div class="ttdeci">float middle_value_</div><div class="ttdoc">Middle eigen value</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:322</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a0a165ae40c0bc11f0cd3339291eb5380"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a0a165ae40c0bc11f0cd3339291eb5380">pcl::MomentOfInertiaEstimation::major_value_</a></div><div class="ttdeci">float major_value_</div><div class="ttdoc">Major eigen value</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:319</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a0b947a169d16283c234908eade8dffa0"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a0b947a169d16283c234908eade8dffa0">pcl::MomentOfInertiaEstimation::is_valid_</a></div><div class="ttdeci">bool is_valid_</div><div class="ttdoc">Indicates if the stored values (eccentricity, moment of inertia, AABB etc.) are valid when accessed w...</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a231861f9ca6b21588b39cbbf7c0c0426"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a231861f9ca6b21588b39cbbf7c0c0426">pcl::MomentOfInertiaEstimation::obb_position_</a></div><div class="ttdeci">Eigen::Vector3f obb_position_</div><div class="ttdoc">Stores position of the oriented bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:346</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a2c7189a33550fd032889beb8468178f4"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a2c7189a33550fd032889beb8468178f4">pcl::MomentOfInertiaEstimation::middle_axis_</a></div><div class="ttdeci">Eigen::Vector3f middle_axis_</div><div class="ttdoc">Middle eigen vector</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:313</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a3426207a8ff454274a9d2119f884c53d"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a3426207a8ff454274a9d2119f884c53d">pcl::MomentOfInertiaEstimation::obb_min_point_</a></div><div class="ttdeci">PointT obb_min_point_</div><div class="ttdoc">Min point of the oriented bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a3e3d1ba2123e1c58137f380c06d4492c"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a3e3d1ba2123e1c58137f380c06d4492c">pcl::MomentOfInertiaEstimation::aabb_max_point_</a></div><div class="ttdeci">PointT aabb_max_point_</div><div class="ttdoc">Max point of the axis aligned bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:337</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a4704720b64b7b5aa90b2154ce0df15ae"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a4704720b64b7b5aa90b2154ce0df15ae">pcl::MomentOfInertiaEstimation::step_</a></div><div class="ttdeci">float step_</div><div class="ttdoc">Stores the angle step</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a4a4c3e73866b8153a4e7c901746e9999"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a4a4c3e73866b8153a4e7c901746e9999">pcl::MomentOfInertiaEstimation::obb_max_point_</a></div><div class="ttdeci">PointT obb_max_point_</div><div class="ttdoc">Max point of the oriented bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:343</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a6098701f8e074c79181e305f7c63ae0d"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a6098701f8e074c79181e305f7c63ae0d">pcl::MomentOfInertiaEstimation::minor_value_</a></div><div class="ttdeci">float minor_value_</div><div class="ttdoc">Minor eigen value</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:325</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a83b09737c57fa17ee476be82fc6d2ac9"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a83b09737c57fa17ee476be82fc6d2ac9">pcl::MomentOfInertiaEstimation::mean_value_</a></div><div class="ttdeci">Eigen::Vector3f mean_value_</div><div class="ttdoc">Stores the mean value (center of mass) of the cloud</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:307</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_a879fb5187a0f7f8ad3a9fc6ecc2fe8fc"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#a879fb5187a0f7f8ad3a9fc6ecc2fe8fc">pcl::MomentOfInertiaEstimation::aabb_min_point_</a></div><div class="ttdeci">PointT aabb_min_point_</div><div class="ttdoc">Min point of the axis aligned bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:334</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aa0dfe095b9239cb904f3b9716f632765"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aa0dfe095b9239cb904f3b9716f632765">pcl::MomentOfInertiaEstimation::point_mass_</a></div><div class="ttdeci">float point_mass_</div><div class="ttdoc">Stores the mass of point in the cloud</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aa64a8f7a76be5b5714919dfcc4e83ca0"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aa64a8f7a76be5b5714919dfcc4e83ca0">pcl::MomentOfInertiaEstimation::obb_rotational_matrix_</a></div><div class="ttdeci">Eigen::Matrix3f obb_rotational_matrix_</div><div class="ttdoc">Stores the rotational matrix of the oriented bounding box</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aac5c807734eaec35e71681a2ab179c1a"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aac5c807734eaec35e71681a2ab179c1a">pcl::MomentOfInertiaEstimation::normalize_</a></div><div class="ttdeci">bool normalize_</div><div class="ttdoc">Stores the flag for mass normalization</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:304</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ab66f13f5d744785424443d2ac5df4720"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ab66f13f5d744785424443d2ac5df4720">pcl::MomentOfInertiaEstimation::moment_of_inertia_</a></div><div class="ttdeci">std::vector&lt; float &gt; moment_of_inertia_</div><div class="ttdoc">Stores calculated moments of inertia</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_acd2333daeff6b5bce8d5c72a513ffda9"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#acd2333daeff6b5bce8d5c72a513ffda9">pcl::MomentOfInertiaEstimation::minor_axis_</a></div><div class="ttdeci">Eigen::Vector3f minor_axis_</div><div class="ttdoc">Minor eigen vector</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:316</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_ae6d6bcb2838c111297e0a7439354d8a7"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#ae6d6bcb2838c111297e0a7439354d8a7">pcl::MomentOfInertiaEstimation::major_axis_</a></div><div class="ttdeci">Eigen::Vector3f major_axis_</div><div class="ttdoc">Major eigen vector</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1_moment_of_inertia_estimation_html_aff040015a1c06b72dfe1c4c7239d448e"><div class="ttname"><a href="classpcl_1_1_moment_of_inertia_estimation.html#aff040015a1c06b72dfe1c4c7239d448e">pcl::MomentOfInertiaEstimation::eccentricity_</a></div><div class="ttdeci">std::vector&lt; float &gt; eccentricity_</div><div class="ttdoc">Stores calculated eccentricities</div><div class="ttdef"><b>Definition:</b> moment_of_inertia_estimation.h:331</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="agroup__common_html_gac36b146ec26b1ceb7be43a9ecaa010c4"><div class="ttname"><a href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute the 3x3 covariance matrix of a given set of points. The result is returned as a Eigen::Matrix...</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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